CN106171651A - A kind of robot for agricultural greenhouse booth goes through transition system automatically - Google Patents
A kind of robot for agricultural greenhouse booth goes through transition system automatically Download PDFInfo
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- CN106171651A CN106171651A CN201610535951.8A CN201610535951A CN106171651A CN 106171651 A CN106171651 A CN 106171651A CN 201610535951 A CN201610535951 A CN 201610535951A CN 106171651 A CN106171651 A CN 106171651A
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- 230000007704 transition Effects 0.000 title claims abstract description 28
- 238000009825 accumulation Methods 0.000 claims abstract description 11
- 239000003054 catalyst Substances 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 230000005611 electricity Effects 0.000 claims description 21
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000003466 welding Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/14—Greenhouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Greenhouses (AREA)
Abstract
A kind of robot for agricultural greenhouse booth goes through transition system automatically.The robot that the invention discloses the transition of a kind of agricultural greenhouse booth middle orbit vehicle goes through transition system automatically.Native system mainly includes robot, rail relayer, the track that switches tracks, robot track, standby region and control system.Described control system connects rail relayer and robot, described rail relayer includes track vehicle body, rail body, track lifting assembly, rope folding and unfolding assembly and track accumulation of energy resilience assembly, side-to-side movement, the lifting of rail body can be realized and automatically draw stretching, extension in, the described track that switches tracks is vertical with one end of robot track to join, and standby region is in the one end switching tracks track.Control system includes upper computer control system I and vehicle control syetem II, and upper computer control system I includes host computer and wireless module first, and vehicle control syetem II includes wireless module second, PLC, sensor, catalyst and thermorelay.The present invention can switch tracks by auxiliary robot automatically, and realize rail relayer automatically draw stretching, extension in, improve automaticity and the production efficiency of agricultural modernization warmhouse booth.
Description
Technical field
The present invention relates to a kind of can robot automation's system of transfer trajectory automatically, particularly a kind of agricultural greenhouse booth
The robot that middle orbit vehicle switches tracks goes through transition system automatically, belongs to field of agricultural mechanical automation.
Background technology
Along with increasing rapidly of national economy, research and the application technology of agricultural increasingly come into one's own, particularly greenhouse
Booth has become as an important component part of high-efficiency agriculture.An important ring during reading intelligent agriculture produces is exactly to agricultural production
Some important parameters of environment detect and control, and warmhouse booth needs micro-in booth of mobile robot carry sensors
See environment to detect in real time, it is ensured that plant growth state is controlled.Along with the development of agricultural modernization automatization level, to greenhouse
The automatization of robot track system of booth, intelligent requirements improve the most day by day.
The track being currently used for standardization agricultural greenhouse booth mostly is parallel orbit, and mobile robot is between a plurality of track
In the case of operation, need frequent handoff path.But due to narrow space, robot size is bigger, it is more difficult to realize autonomous turnover
Change more track, and the transition system automation level being currently used for agricultural greenhouse be relatively low, a lot of in the case of remain a need for human assistance
Robot complete rotation track, greatly reduces efficiency, is unfavorable for the development of agricultural modernization booth.Additionally, in agricultural greenhouse booth
The environmental aspect such as temperature, humidity is to people and is not suitable for, and the health on people that works the most in such a case can produce impact.
Summary of the invention
Present invention aims to the deficiency of prior art, it is provided that a kind of agricultural greenhouse booth middle orbit vehicle switches tracks
Robot automatically go through transition system, solve the problem that automatically switches tracks of existing agricultural greenhouse booth robot, improve agricultural big
Personnel are freed from heavy severe working environment by the automatization level of canopy rail system.
For solving above-mentioned technical problem, insight of the invention is that
The robot that the present invention a kind of agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition system automatically, including robot, changes
Rail car, the track that switches tracks, robot track and control system.Described control system connects rail relayer and robot, described rail relayer
Road is vertical with one end of robot track to join, and standby region is in the one end switching tracks track.
Described rail relayer includes that track vehicle body, rail body, track lifting assembly, rope folding and unfolding assembly and track accumulation of energy are returned
Play assembly.Track vehicle body, track lifting assembly, rope folding and unfolding assembly and track accumulation of energy resilience assembly is disposed on described rail body
All it is connected with rail body and track vehicle body.
Described track vehicle body includes left vehicle frame, right vehicle frame, four wheels, revolver axle, right wheel axle, main drive motor, drivings
Actuating device, four wheels are attached separately on revolver axle and right wheel axle, and revolver axle and right wheel axle are attached separately to left vehicle frame, right vehicle frame
On, main drive motor is connected with driving actuating device, and main drive motor engages power by driving gear inside actuating device
Being delivered on right wheel axle, such rail relayer is driven by right wheel can realize motion.
Described rail body includes center moving track, center support, front moving track, front end panel, rear moving rail
Road and rear bearing sheet, front end panel, center support and rear bearing sheet by welding respectively with front moving track, center moving rail
Road, rear moving track connect, and fixing and left and right two parts of supporting track, front end panel and rear bearing sheet divide with center support
It is not connected by hinge, and can rotate around center support.
Described track lifting assembly includes (two) left electricity cylinder, (two) right electricity cylinder, in the base of electricity cylinder and track vehicle body
Vehicle frame fixing connect, the slide unit of electricity cylinder is fixing with center support to be connected, and achieves rail body and railcar by electric cylinder
The connection of body.
Described rope folding and unfolding assembly includes rope folding and unfolding frame, left double flute fixed pulley, right double flute fixed pulley, cylinder, rope
Retracting motor, rope retracting motor frame, reinforcing bar rope, the motor shaft of rope retracting motor is connected with cylinder, and by rope folding and unfolding
Motor rack is fixed in rope folding and unfolding frame, and front double flute fixed pulley and rear double flute fixed pulley are all connected to rope folding and unfolding by bearing pin
In frame, reinforcing bar rope one end is fixed on front end panel, rear bearing sheet, and one end walks around front double flute fixed pulley respectively, rear double flute is slided surely
Wheel, is wrapped on cylinder, and rope folding and unfolding frame is fixedly linked with center support.
Described track accumulation of energy resilience assembly includes that energy-storaging spring, hexagonal slideway, hexagonal slide bar, resilience roller, resilience are used
Raceway, energy-storaging spring is placed in hexagonal slideway, and one end props up hexagonal slideway blind end, and one end contacts with hexagonal slide bar end,
Resilience roller is connected with another end bearing pin of hexagonal slide bar, and resilience raceway is separately fixed at front moving track and rear shifting
The right and left of dynamic track, matches use one to one with resilience roller, and hexagonal slide bar is fixedly linked with center support.
Described control system includes upper computer control system I and vehicle control syetem II, and upper computer control system I includes
Position machine and wireless module first, vehicle control syetem II includes wireless module second, PLC, sensor, catalyst and hot relay
Device, PLC receives the signal from host computer through wireless module second, controls rail relayer walking, location, control after process
Rail body rises, falls.The signal detected is passed to host computer, catalyst and hot relay by wireless module second by sensor
Device is used for controlling main drive motor, all electricity cylinder and rope retracting motor.Described sensor includes swashing in terms of rail relayer location
Ligh-ranging sensor and incremental optical encoder, laser range sensor is contained in the right-hand member of the right vehicle frame of track vehicle body, Ke Yishi
The coarse positioning of existing rail relayer, incremental optical encoder is contained on rail relayer right wheel axle, by cooperating with laser range sensor
Rail relayer can be realized be accurately positioned, location when both jointly carry out rail relayer traveling and dock with robot track；Track
Proximity switch in terms of upset location, proximity switch is contained in the top of center support and front and back bottom side, before being respectively used to
The final position location of moving track and the gathering of rear moving track and stretching process.
The present invention compared with prior art, has and the most obviously highlights substantive distinguishing features and remarkable advantage:
(1) the robot system of going through transition automatically that agricultural greenhouse booth middle orbit vehicle switches tracks solves machine in agricultural greenhouse booth
The problem that device people cannot independently switch tracks, improves production efficiency and the automatization level of Intelligent Greenhouse.
(2) the robot system of going through transition automatically that agricultural greenhouse booth middle orbit vehicle switches tracks can realize oneself of rail relayer
Dynamic gathering in is stretched, and has effectively saved space, it is simple to deposit.
Accompanying drawing explanation
Fig. 1 is that the robot that agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition system schematic automatically.
Fig. 2 be the robot that agricultural greenhouse booth middle orbit vehicle switches tracks automatically go through transition system control system signal
Figure.
Fig. 3 is that the robot that agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition the rail relayer structure chart of system automatically.
Fig. 4 is rail relayer right rail body construction figure.
Fig. 5 is rail relayer rope folding and unfolding assembly assumption diagram.
Fig. 6 is rail relayer track accumulation of energy resilience assembly assumption diagram.
Fig. 7 is after the rail relayer in the robot transition system automatically that agricultural greenhouse booth middle orbit vehicle switches tracks draws in
Overall schematic.
Detailed description of the invention
The specific implementation process accompanying drawings of the present invention is as follows:
Embodiment one:
See Fig. 1 ~ Fig. 7, the robot that this agricultural greenhouse booth middle orbit vehicle switches tracks automatically go through transition include robot (C),
Rail relayer (A), the track that switches tracks (B), robot track (D), standby region (E) and control system, described control system connects changes
Rail car (A) and robot (C), described in switch tracks that track (B) is vertical with one end of robot track (D) to join, standby region (E) exists
Switch tracks one end of track (B).
Embodiment two, the present embodiment is essentially identical with embodiment one, and special feature is as follows:
Described rail relayer (A) includes track vehicle body (A-1), rail body (A-2), track lifting assembly (A-3), rope folding and unfolding group
Part (A-4) and track accumulation of energy resilience assembly (A-5), described rail body disposes track vehicle body (A-1), track lifting assembly
(A-3), rope folding and unfolding assembly (A-4) and track accumulation of energy resilience assembly (A-5) all with rail body (A-2) and track vehicle body (A-
1) it is connected.
The track vehicle body (A-1) of described rail relayer (A) includes left vehicle frame (19), right vehicle frame (1), (four) wheel (7), a left side
Wheel shaft (13), right wheel axle (6), main drive motor (2) and driving actuating device (3), described (four) wheel (7) are attached separately to a left side
On wheel shaft (13) and right wheel axle (6), revolver axle (13) and right wheel axle (6) are attached separately on left vehicle frame (19), right vehicle frame (1), main
Driving motor (2) and drive actuating device (3) to be connected, accumulator (4) power, main drive motor (2) fills by driving transmission
Put the gear engagement of (3) the inside to transfer power on right wheel axle (6), and then drive rail relayer motion.
The rail body (A-2) of described rail relayer (A) includes center moving track (12), center support (14), reach
Dynamic track (30), front end panel (31), rear moving track (10) and rear bearing sheet (9), described front end panel (31), central supported
Frame (14) and rear bearing sheet (9) by welding respectively with front moving track (30), center moving track (12), rear moving track
(10) connect, fixing and left and right two parts of supporting track, front end panel (31) and rear bearing sheet (9) and center support (14)
It is connected by hinge respectively, and can rotate around center support (14).
The track lifting assembly (A-3) of described rail relayer (A) includes (two) left electricity cylinder (20), (two) right electricity cylinder
(28), the base of described all electricity cylinders and the vehicle frame in track vehicle body (A-1), including left vehicle frame (19) and right vehicle frame (1), fixing
Connecting, the slide unit of electricity cylinder is connected by fixing with center support (14), thus achieves rail body by electricity cylinder (20,28)
(A-2) with the connection of track vehicle body (A-1), and rail body (A-2) integrally lifts.
Rope folding and unfolding assembly (A-4) of described rail relayer (A) includes rope folding and unfolding frame (25), front double flute fixed pulley
(23), rear double flute fixed pulley (22), cylinder (24), rope retracting motor (21), rope retracting motor frame (27) and reinforcing bar rope
(26), the motor shaft of described rope retracting motor (21) is connected with cylinder (24), and is fixed by rope retracting motor frame (27)
On rope folding and unfolding frame (25), front double flute fixed pulley (23) and rear double flute fixed pulley (22) are all connected to rope by bearing pin and receive
Putting in frame (25), reinforcing bar rope (26) one end is fixed on front end panel (31), rear bearing sheet (9), and one end is walked around respectively
Front double flute fixed pulley (23), rear double flute fixed pulley (22), be wrapped on cylinder (24), rope folding and unfolding frame (25) and center
Bracing frame (14) is fixedly linked.
Track accumulation of energy resilience assembly (A-5) of described rail relayer (A) include energy-storaging spring (18), hexagonal slideway (17), six
Angle slide bar (16), resilience roller (15) and resilience raceway (11), described energy-storaging spring (18) is placed on hexagonal slideway (17)
In, one end props up the blind end of hexagonal slideway (17), and one end contacts with hexagonal slide bar (16) end, resilience roller (15) and six
Another end of angle slide bar (16) bearing pin is connected, and resilience raceway (11) is fixed on front moving track (30) and rear moving track
(10) the right and left, matches use, hexagonal slide bar (16) and center support (14) admittedly one to one with resilience roller (15)
Fixed connected.
Described control system includes upper computer control system (I) and vehicle control syetem (II), upper computer control system (I)
Including host computer (I-1) and wireless module first (I-2), vehicle control syetem (II) includes that wireless module second (II-1), PLC control
Device (II-2), sensor, catalyst (II-3) and thermorelay (II-4), PLC (II-2) is through wireless module second (II-
1) receive the signal from host computer (I-1), control rail relayer (A) after process and walk, position, control rail body (A-2)
Rise, fall；The signal detected is passed to host computer (I-1), catalyst (II-by wireless module second (II-1) by sensor
3) and thermorelay (II-4) is used for controlling main drive motor (2), electricity cylinder (20,28) and rope retracting motor (21).
Sensor in described control system includes the laser range sensor (29) in terms of rail relayer (A) location and increment
Formula optical encoder (5), laser range sensor (29) is contained in the right-hand member of track vehicle body (A-1) right vehicle frame (1), it is possible to achieve change
The coarse positioning of rail car (A), incremental optical encoder (5) is contained on rail relayer right wheel axle (6), by and laser range sensor
(29) cooperation can realize rail relayer (A) and is accurately positioned, both jointly carry out rail relayer (A) advance and with robot track (D)
Location during docking；Proximity switch (8) in terms of orbit flip location, proximity switch (8) is separately mounted to center support
(14), bottom top and front and back side, it is respectively used to front moving track (30) and the gathering of rear moving track (10) and extends across
The final position location of journey.
Embodiment three:
The robot system of going through transition automatically that agricultural greenhouse booth middle orbit vehicle of the present invention switches tracks can realize by auxiliary robot (C)
Automatically switch tracks.Startup system, left electricity cylinder (20) and right electricity cylinder (28) of track lifting assembly (A-3) drive center support (14)
Declining, make whole rail body (A-2) decline, until docking with robot (place) track (D), robot (C) sails track into
In main body (A-2), the most left electricity cylinder (20) and right electricity cylinder (28) reverse drive rail body (A-2) rise to predetermined altitude, with
Rear main drive motor (2) moves towards robot (target) track (D), at laser by driving actuator drives rail relayer (A)
Under the detection of distance measuring sensor (29) and incremental optical encoder (5), rail relayer (A) navigates to robot (target) track
(D) position stopping, afterwards under track lifting assembly (A-3) drives, rail body (A-2) decline and with robot (target)
Track (D) docks, and robot (C) rolls rail body (A-2) subsequently away from, enters robot (target) track (D), the whole work that switches tracks
Complete.
Rail relayer in the robot transition system automatically that agricultural greenhouse booth middle orbit vehicle of the present invention switches tracks is permissible
Realize car load draws stretching, extension automatically in.Drive at track lifting assembly (A-3) for drawing process, first rail body (A-2) in
Under rise to predetermined altitude, then the rope retracting motor (21) in rope folding and unfolding assembly (A-4) start, by cylinder (24)
Reinforcing bar rope (26) is tightened up in rotation, by reinforcing bar rope (26) pull and overturn fixing before moving track (30) front end panel (31) and
The rear bearing sheet (9) of moving track (10) after fixing, will overturn to perpendicular at front moving track (30) and rear moving track (10)
During straight position, the resilience raceway (11) being fixed on front end panel (31) and rear bearing sheet (9) connects with resilience roller (15)
Touch, afterwards along with the continuation of flip-flop movement, the hexagonal slide bar (16) that resilience raceway (11) will be connected with resilience roller (15)
Push back hexagonal slideway (17), and compress energy storage spring (18), the most also ensure reinforcing bar rope (26) can tensioning always, when close to opening
Pass (8) detects when being turned to precalculated position, and rope retracting motor (21) stall self-locking, rail body (A-2) completes
Drawing in, car load draws process in be terminated.For the rope retracting motor (21) in stretching process, first rope folding and unfolding assembly (A-4)
Start, release reinforcing bar rope (26) by the rotation of cylinder (24), under the active force provided by compress energy storage spring (18), and return
Front end panel (31) and rear bearing sheet (9) that bullet raceway (11) is connected will be turned over vertical position, afterwards, front end panel (31)
With rear bearing sheet (9) under gravity continue upset, when proximity switch (8) detect front moving track (30) and after moving rail
When road (10) upset is to horizontal level, rope retracting motor (21) stall self-locking, rail body (A-2) completes to stretch, and car load is stretched
Exhibition process terminates, whole during reinforcing bar rope (26) keep tension.
The robot that agricultural greenhouse booth middle orbit vehicle of the present invention switches tracks automatically go through transition system operationally, first change
Rail car (A) moves to robot (place) track (D) position from standby region (E), and the rail body drawn in subsequently (A-2) stretches
And decline until docking with robot (place) track (D), robot (C) moves to the rail body (A-of rail relayer (A) afterwards
2) on, then rail body (A-2) rises to predetermined altitude, and rail relayer (A) moves towards robot (target) track (D) subsequently,
After rail relayer (A) navigates to robot (target) track (D) position and stops, rail body (A-2) declines and and robot
(target) track (D) docks, and robot (C) rolls rail body (A-2) therewith away from, enters robot (target) track (D), track
Main body (A-2) rises to predetermined altitude therewith and draws in, and rail relayer (A) moves to standby region (E) in case reusing, once
Complete robot switches tracks end-of-job.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention.All essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (9)
1. the robot that an agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition system automatically, it is characterised in that: include machine
Device people (C), rail relayer (A), the track that switches tracks (B), robot track (D) and control system, described control system connects rail relayer
And robot (C) (A), described in switch tracks that track (B) is vertical with one end of robot track (D) to join, standby region (E) is switching tracks
The one end in track (B).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 1 switches tracks goes through transition system automatically, its
It is characterised by: described rail relayer (A) includes track vehicle body (A-1), rail body (A-2), track lifting assembly (A-3), rope
Folding and unfolding assembly (A-4) and track accumulation of energy resilience assembly (A-5), described rail body disposes track vehicle body (A-1), and track lifts
Assembly (A-3), rope folding and unfolding assembly (A-4) and track accumulation of energy resilience assembly (A-5) all with rail body (A-2) and track vehicle body
(A-1) it is connected.
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its
Be characterised by: described track vehicle body (A-1) include left vehicle frame (19), right vehicle frame (1), (four) wheel (7), revolver axle (13),
Right wheel axle (6), main drive motor (2) and driving actuating device (3), described (four) wheel (7) are attached separately to revolver axle (13)
With on right wheel axle (6), revolver axle (13) and right wheel axle (6) are attached separately on left vehicle frame (19), right vehicle frame (1), main drive motor
(2) being connected with driving actuating device (3), accumulator (4) power, main drive motor (2) is by driving actuating device (3) the inside
Gear engagement transfers power on right wheel axle (6), and then drives rail relayer motion.
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its
Be characterised by: described rail body (A-2) include center moving track (12), center support (14), front moving track (30),
Front end panel (31), rear moving track (10) and rear bearing sheet (9), described front end panel (31), center support (14) and after
Gripper shoe (9) is connected with front moving track (30), center moving track (12), rear moving track (10) respectively by welding, Gu
Left and right two parts of fixed also supporting track, front end panel (31) and rear bearing sheet (9) and center support (14) are respectively by hinge
It is connected, and can rotate around center support (14).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its
It is characterised by: described track lifting assembly (A-3) includes (two) left electricity cylinder (20), (two) right electricity cylinder (28), described all
The base of electricity cylinder and the vehicle frame in track vehicle body (A-1), including left vehicle frame (19) and right vehicle frame (1), fixing connection, the cunning of electricity cylinder
Platform is connected by fixing with center support (14), thus achieves rail body (A-2) and railcar by electricity cylinder (20,28)
The connection of body (A-1), and rail body (A-2) integrally lifts.
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its
It is characterised by: described rope folding and unfolding assembly (A-4) includes that rope folding and unfolding frame (25), front double flute fixed pulley (23), rear double flute are fixed
Pulley (22), cylinder (24), rope retracting motor (21), rope retracting motor frame (27) and reinforcing bar rope (26), described rope is received
The motor shaft of Electrical Discharge Machine (21) is connected with cylinder (24), and is fixed on rope folding and unfolding frame by rope retracting motor frame (27)
(25), on, front double flute fixed pulley (23) and rear double flute fixed pulley (22) are all connected on rope folding and unfolding frame (25) by bearing pin,
Reinforcing bar rope (26) one end is fixed on front end panel (31), rear bearing sheet (9), one end walk around respectively front double flute fixed pulley (23), after
Double flute fixed pulley (22), is wrapped on cylinder (24), and rope folding and unfolding frame (25) is fixedly linked with center support (14).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its
Be characterised by: described track accumulation of energy resilience assembly (A-5) include energy-storaging spring (18), hexagonal slideway (17), hexagonal slide bar (16),
Resilience roller (15) and resilience raceway (11), described energy-storaging spring (18) is placed in hexagonal slideway (17), and one end props up
The blind end of hexagonal slideway (17), one end contacts with hexagonal slide bar (16) end, resilience roller (15) and hexagonal slide bar (16)
Another end be connected with bearing pin, resilience raceway (11) is separately fixed at front moving track (30) and rear moving track (10)
The right and left, matches use one to one with resilience roller (15), and hexagonal slide bar (16) is fixedly linked with center support (14).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 1 switches tracks goes through transition system automatically, its
Be characterised by: described control system include upper computer control system () and vehicle control syetem (), upper computer control system ()
Including host computer (-1) and wireless module first (-2), vehicle control syetem () include wireless module second (-1), PLC
(-2), sensor, catalyst (-3) and thermorelay (-4), PLC (-2) through wireless module second (-1) receive
To from host computer (-1) signal, controls rail relayer (A) and walks, positions, control rail body (A-2) and rise, drop after process
Under；Sensor by the signal that detects by wireless module second (-1) pass to host computer (-1), catalyst (-3) and hot relay
Device (-4) it is used for controlling main drive motor (2), all electricity cylinder (20,28) and rope retracting motor (21).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 8 switches tracks goes through transition system automatically, its
It is characterised by: described sensor includes the laser range sensor (29) in terms of rail relayer (A) location and incremental optical coding
Device (5), laser range sensor (29) is contained in the right-hand member of track vehicle body (A-1) right vehicle frame (1), it is possible to achieve rail relayer (A)
Coarse positioning, incremental optical encoder (5) is contained on rail relayer right wheel axle (6), by cooperating with laser range sensor (29)
Can realize rail relayer (A) to be accurately positioned, both are carried out when rail relayer (A) is advanced and docks with robot track (D) jointly
Location；Proximity switch (8) in terms of orbit flip location, proximity switch (8) is separately mounted to the top of center support (14)
Front and back bottom side, it is respectively used to front moving track (30) and the gathering of rear moving track (10) and the stop bit of stretching process
Put location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610535951.8A CN106171651B (en) | 2016-07-10 | 2016-07-10 | A kind of robot for agricultural greenhouse greenhouse goes through transition system automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610535951.8A CN106171651B (en) | 2016-07-10 | 2016-07-10 | A kind of robot for agricultural greenhouse greenhouse goes through transition system automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106171651A true CN106171651A (en) | 2016-12-07 |
| CN106171651B CN106171651B (en) | 2019-06-04 |
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| CN107711782A (en) * | 2017-09-26 | 2018-02-23 | 江苏大学 | A kind of monorail for agricultural greenhouse greenhouse switches tracks system |
| CN108323303A (en) * | 2018-02-02 | 2018-07-27 | 昆明理工大学 | A kind of greenhouse Radix Notoginseng work facility |
| CN109436710A (en) * | 2018-12-12 | 2019-03-08 | 江苏恒顺醋业股份有限公司 | A kind of more intelligent fetching devices of pond transition |
| CN110432247A (en) * | 2019-08-22 | 2019-11-12 | 杨红坤 | A kind of greenhouse suspension type pesticide automatic spraying device |
| CN112720508A (en) * | 2021-04-02 | 2021-04-30 | 南京艾格慧元农业科技有限公司 | Vegetable greenhouse robot control method |
| CN114536299A (en) * | 2022-03-24 | 2022-05-27 | 山东新一代信息产业技术研究院有限公司 | Multi-robot scheduling method for rail type overhead rail robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107711782A (en) * | 2017-09-26 | 2018-02-23 | 江苏大学 | A kind of monorail for agricultural greenhouse greenhouse switches tracks system |
| CN107711782B (en) * | 2017-09-26 | 2020-11-03 | 江苏大学 | A monorail trades rail system for agricultural greenhouse big-arch shelter |
| CN108323303A (en) * | 2018-02-02 | 2018-07-27 | 昆明理工大学 | A kind of greenhouse Radix Notoginseng work facility |
| CN109436710A (en) * | 2018-12-12 | 2019-03-08 | 江苏恒顺醋业股份有限公司 | A kind of more intelligent fetching devices of pond transition |
| CN109436710B (en) * | 2018-12-12 | 2023-11-24 | 江苏恒顺醋业股份有限公司 | Multi-pool transfer intelligent picking and placing device |
| CN110432247A (en) * | 2019-08-22 | 2019-11-12 | 杨红坤 | A kind of greenhouse suspension type pesticide automatic spraying device |
| CN112720508A (en) * | 2021-04-02 | 2021-04-30 | 南京艾格慧元农业科技有限公司 | Vegetable greenhouse robot control method |
| CN112720508B (en) * | 2021-04-02 | 2022-02-01 | 南京艾格慧元农业科技有限公司 | Vegetable greenhouse robot control method |
| CN114536299A (en) * | 2022-03-24 | 2022-05-27 | 山东新一代信息产业技术研究院有限公司 | Multi-robot scheduling method for rail type overhead rail robot |
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| CN106171651B (en) | 2019-06-04 |
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